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Learning has propelled the cutting edge of performance in robotic control to new heights, allowing robots to operate with high performance in conditions that were previously unimaginable. The majority of the work, however, assumes that the…
This paper proposes an Adaptive Robust Model Predictive Control strategy for lateral control in lane keeping problems, where we continuously learn an unknown, but constant steering angle offset present in the steering system. Longitudinal…
Recently, many reactive trajectory planning approaches were suggested in the literature because of their inherent immediate adaption in the ever more demanding cluttered and unpredictable environments of robotic systems. However, typically…
Multi-contact motion is important for humanoid robots to work in various environments. We propose a centroidal online trajectory generation and stabilization control for humanoid dynamic multi-contact motion. The proposed method features…
This paper presents a novel control algorithm for robotic manipulators in unstructured environments using proximity sensors partially distributed on the platform. The proposed approach exploits arrays of multi zone Time-of-Flight (ToF)…
There are few industries which use manually controlled robots for carrying material and this cannot be used all the time in all the places. So, it is very tranquil to have robots which can follow a specific human by following the unique…
This paper develops a provably stable sensor-driven controller for path-following applications of robots with unicycle kinematics, one specific class of which is the wheeled mobile robot (WMR). The sensor measurement is converted to a…
Collaborative robotic systems will be a key enabling technology for current and future industrial applications. The main aspect of such applications is to guarantee safety for humans. To detect hazardous situations, current commercially…
Autonomous mobile robots have many applications in indoor unstructured environment, wherein optimal movement of the robot is needed. The robot therefore needs to navigate in unknown and dynamic environments. This paper presents an…
Vehicle roll control has been a well studied problem. One of the ubiquitous methods to mitigate vehicle rollover in the automobile industry is via a mechanical anti-roll bar. However with the advent of electric vehicles, rollover mitigation…
Non-prehensile pushing to move and reorient objects to a goal is a versatile loco-manipulation skill. In the real world, the object's physical properties and friction with the floor contain significant uncertainties, which makes the task…
Many researchers around the world are researching to get control solutions that enhance robots' ability to navigate in dynamic environments autonomously. However, until these days robots have limited capability and many navigation tasks on…
A key challenge in off-road navigation is that even visually similar terrains or ones from the same semantic class may have substantially different traction properties. Existing work typically assumes no wheel slip or uses the expected…
The development of control techniques to maintain vehicle stability under possible loss-of-control scenarios is essential to the safe deployment of autonomous ground vehicles in public scenarios. In this paper, we propose a tube-based…
The paper presents the electronic design and motion planning of a robot based on decision making regarding its straight motion and precise turn using Artificial Neural Network (ANN). The ANN helps in learning of robot so that it performs…
The Underactuated Lightweight Tensegrity Robotic Assistive Spine (ULTRA Spine) project is an ongoing effort to develop a flexible, actuated backbone for quadruped robots. In this work, model-predictive control is used to track a trajectory…
This paper investigates a fully distributed cooperation scheme for networked mobile manipulators. To achieve cooperative task allocation in a distributed way, an adaptation-based estimation law is established for each robotic agent to…
This paper develops a new approach for robot motion planning and control in obstacle-laden environments that is inspired by fundamentals of fluid mechanics. For motion planning, we propose a novel transformation between motion space, with…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
Robotic dual-arm twisting is a common but very challenging task in both industrial production and daily services, as it often requires dexterous collaboration, a large scale of end-effector rotating, and good adaptivity for object…